PathAStar.cs
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using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace XingYe_ACS.Business
{
public class PathAStar
{
List<Point> OpenList = new List<Point>();
List<Point> CloseList = new List<Point>();
List<Point> SurPointsList = new List<Point>();
public const int CONER = 10;
public const int LINE = 4;
public const int TOEND = 4;
/// <summary>
/// 寻找路径
/// </summary>
/// <param name="listApoint">可用的点</param>
/// <param name="beginPoint">起点</param>
/// <param name="endPoint">终点</param>
/// <param name="agv"></param>
/// <returns></returns>
public Point GetPathPoint(List<Point> listApoint, Point beginPoint, Point endPoint, Agv agv,int flag)
{
if (beginPoint == null || endPoint == null)
throw new Exception(" 查找路径失败，起点终点不能为空");
OpenList.Add(beginPoint);
if (flag == 1) { CloseList.Clear(); }
int x = 0;
while (OpenList.Count != 0)
{
x++;
//按照F值从小到大排序
//将此点从Open表剔除，并加入Close表中
OpenList.Sort();
Point currentPoint = OpenList[0];
OpenList.RemoveAt(0);
CloseList.Add(currentPoint);
//找出它相邻的点
List<Point> aroundPoints = GetAroundPoint(listApoint, currentPoint);
if (aroundPoints.Count == 0 && OpenList.Count == 0) return currentPoint;
foreach (Point judgePoint in aroundPoints)
{
if (OpenList.Contains(judgePoint))
{
var G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint);
if (G < judgePoint.Value_G)
{
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = G;
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
}
}
else
{
//如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint);
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
OpenList.Add(judgePoint);
if (judgePoint.strBarcode == endPoint.strBarcode)
return judgePoint;
}
}
}
return OpenList.Last();
}
/// <summary>
/// 寻找四周点
/// </summary>
/// <param name="listApoint">可用点集合</param>
/// <param name="currentPoint"></param>
/// <returns></returns>
public List<Point> GetAroundPoint(List<Point> listApoint, Point currentPoint)
{
List<Point> listPoint = new List<Point>();
//找到当前点的X+方向点，判断是否在可用点里面，再判断X+的点是否可走
Point xPos = currentPoint.xPosPoint;
if (listApoint.Contains(xPos))
if (CanReach(xPos, currentPoint, EnumMsg.OriType.X正方向))
listPoint.Add(xPos);
Point xNeg = currentPoint.xNegPoint;
if (listApoint.Contains(xNeg))
if (CanReach(xNeg, currentPoint, EnumMsg.OriType.X负方向))
listPoint.Add(xNeg);
Point yPos = currentPoint.yPosPoint;
if (listApoint.Contains(yPos))
if (CanReach(yPos, currentPoint, EnumMsg.OriType.Y正方向))
listPoint.Add(yPos);
Point yNeg = currentPoint.yNegPoint;
if (listApoint.Contains(yNeg))
if (CanReach(yNeg, currentPoint, EnumMsg.OriType.Y负方向))
listPoint.Add(yNeg);
return listPoint;
}
/// <summary>
/// 能否选择此点
/// </summary>
/// <param name="judgePoint">待判定的点</param>
/// <param name="currentPoint"></param>
/// <param name="flag">待判定点与当前点方向标识</param>
/// <returns></returns>
public bool CanReach(Point judgePoint, Point currentPoint, EnumMsg.OriType pathDirection)
{
if (judgePoint == null)
return false;
//关掉的点，排除
if (CloseList.Exists(a => a.strBarcode == judgePoint.strBarcode))
return false;
switch (pathDirection)
{
case EnumMsg.OriType.X正方向:
//对于X+的四周点，若临时方向存在X-，则不能选择此点
if (judgePoint.tmpDirectionList.Exists(a => a.pathDirection == EnumMsg.OriType.X负方向))
return false;
//判断当前点的固定方向是否允许X+方向行走
if (!currentPoint.isXPos)
return false;
break;
case EnumMsg.OriType.X负方向:
if (judgePoint.tmpDirectionList.Exists(a => a.pathDirection == EnumMsg.OriType.X正方向))
return false;
if (!currentPoint.isXNeg)
return false;
break;
case EnumMsg.OriType.Y正方向:
if (judgePoint.tmpDirectionList.Exists(a => a.pathDirection == EnumMsg.OriType.Y负方向))
return false;
if (!currentPoint.isYPos)
return false;
break;
case EnumMsg.OriType.Y负方向:
if (judgePoint.tmpDirectionList.Exists(a => a.pathDirection == EnumMsg.OriType.Y正方向))
return false;
if (!currentPoint.isYNeg)
return false;
break;
default:
throw new Exception("创建路径失败：找不到此点的方向。");
}
return true;
}
/// <summary>
/// 获取方向
/// </summary>
/// <param name="judgePoint">要判断的点</param>
/// <param name="currentPoint">当前点</param>
/// <returns></returns>
public EnumMsg.OriType GetDircition(Point judgePoint, Point currentPoint)
{
if (judgePoint.intX == currentPoint.intX)
{
if (currentPoint.yPosPoint != null && judgePoint.intY == currentPoint.yPosPoint.intY)
return EnumMsg.OriType.Y正方向;
else if (currentPoint.yNegPoint != null && judgePoint.intY == currentPoint.yNegPoint.intY)
return EnumMsg.OriType.Y负方向;
}
if (judgePoint.intY == currentPoint.intY)
{
if (currentPoint.xPosPoint != null && judgePoint.intX == currentPoint.xPosPoint.intX)
return EnumMsg.OriType.X正方向;
else if (currentPoint.xNegPoint != null && judgePoint.intX == currentPoint.xNegPoint.intX)
return EnumMsg.OriType.X负方向;
}
throw new Exception("无法找到此两点的路径方向：" + judgePoint.strBarcode + "-" + currentPoint.strBarcode);
}
/// <summary>
/// G值权重的计算
/// </summary>
/// <param name="judgePoint"></param>
/// <param name="currentPoint"></param>
/// <returns></returns>
public double ConditionG(Point judgePoint, Point currentPoint)
{
double value = LINE;
Point parentPoint = null;
if (currentPoint.ParentPoint != null)
{
parentPoint = currentPoint.ParentPoint;
//如果是关键路段，则权重加大
if (judgePoint.strRegionName.Contains("Mutex"))
value = 4;
//如果三点在一个直线上，则等于4，否则等于8
if ((parentPoint.intX == currentPoint.intX && judgePoint.intX == parentPoint.intX)
|| (parentPoint.intY == currentPoint.intY && judgePoint.intY == parentPoint.intY))
value = LINE;
else value = CONER;
}
//返回值加上将要行走的小车数量
return value + judgePoint.tmpDirectionList.Count;
}
/// <summary>
/// H值权重的计算
/// </summary>
/// <param name="judgePoint"></param>
/// <param name="endPoint"></param>
/// <returns></returns>
public double CalcH(Point judgePoint, Point endPoint)
{
//查找距离目标点的距离（X+Y）*4
int dtX = Math.Abs(judgePoint.intX - endPoint.intX);
int dtY = Math.Abs(judgePoint.intY - endPoint.intY);
return (dtX + dtY) * TOEND;
//return (dtX + dtY) * 0;
}
/// <summary>
/// 寻找路径
/// </summary>
/// <param name="listApoint">可用的点</param>
/// <param name="beginPoint">起点</param>
/// <param name="endPoint">终点</param>
/// <param name="agv"></param>
/// <returns></returns>
public Point DemoGetPathPoint(List<Point> listApoint, Point beginPoint, Point endPoint, Agv agv)
{
if (beginPoint == null || endPoint == null)
throw new Exception(" 查找路径失败，起点终点不能为空");
OpenList.Add(beginPoint);
int x = 0;
while (OpenList.Count != 0)
{
x++;
//按照F值从小到大排序
//将此点从Open表剔除，并加入Close表中
OpenList.Sort();
Point currentPoint = OpenList[0];
OpenList.RemoveAt(0);
CloseList.Add(currentPoint);
//找出它相邻的点
List<Point> aroundPoints = GetAroundPoint(listApoint, currentPoint);
if (aroundPoints.Count == 0 && OpenList.Count == 0) return currentPoint;
foreach (Point judgePoint in aroundPoints)
{
if (OpenList.Contains(judgePoint))
{
var G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint);
if (G < judgePoint.Value_G)
{
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = G;
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
}
}
else
{
//如果它们不在开始列表里, 就加入, 并设置父节点,并计算GHF
judgePoint.ParentPoint = currentPoint;
judgePoint.Value_G = currentPoint.Value_G + ConditionG(judgePoint, currentPoint);
judgePoint.Value_H = CalcH(judgePoint, endPoint);
judgePoint.Value_F = judgePoint.Value_G + judgePoint.Value_H;
OpenList.Add(judgePoint);
if (judgePoint.strBarcode == endPoint.strBarcode)
return judgePoint;
}
}
}
return OpenList.Last();
}
}
}